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Merged
jnbrunet merged 1 commit into from
Feb 11, 2021
Merged

[examples] fixed gl initialization in visualization examples #111

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181 changes: 85 additions & 96 deletions examples/additional-examples/pygame_example.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,21 +9,25 @@
from OpenGL.GL import *
from OpenGL.GLU import *


pygame.display.init()
display_size = (800, 600)
pygame.display.set_mode(display_size, pygame.DOUBLEBUF | pygame.OPENGL)

glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glEnable(GL_LIGHTING)
glEnable(GL_DEPTH_TEST)
Sofa.SofaGL.glewInit()
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(45, (display_size[0] / display_size[1]), 0.1, 50.0)

glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
def init_display(node):
pygame.display.init()
pygame.display.set_mode(display_size, pygame.DOUBLEBUF | pygame.OPENGL)

glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glEnable(GL_LIGHTING)
glEnable(GL_DEPTH_TEST)
Sofa.SofaGL.glewInit()
Sofa.Simulation.initVisual(node)
Sofa.Simulation.initTextures(node)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(45, (display_size[0] / display_size[1]), 0.1, 50.0)

glMatrixMode(GL_MODELVIEW)
glLoadIdentity()

def simple_render(rootNode):
"""
Expand All @@ -38,98 +42,83 @@ def simple_render(rootNode):
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()

cameraMVM = rootNode.visuals.camera.getOpenGLModelViewMatrix()
cameraMVM = rootNode.camera.getOpenGLModelViewMatrix()
glMultMatrixd(cameraMVM)

Sofa.SofaGL.draw(rootNode.visuals)
Sofa.SofaGL.draw(rootNode)

pygame.display.get_surface().fill((0,0,0))
pygame.display.flip()


class scene_interface:
"""Scene_interface provides step and reset methods"""

def __init__(self, max_steps=1000):
# max_steps, how long the simulator should run. Total length: dt*max_steps
self.max_steps = max_steps

# the current step in the simulation
self.current_step = 0
# Register all the common component in the factory.
SofaRuntime.PluginRepository.addFirstPath(os.path.join(sofa_directory, 'plugins'))
SofaRuntime.importPlugin('SofaOpenglVisual')
SofaRuntime.importPlugin("SofaComponentAll")
SofaRuntime.importPlugin("SofaGeneralLoader")
SofaRuntime.importPlugin("SofaImplicitOdeSolver")
SofaRuntime.importPlugin("SofaLoader")
SofaRuntime.importPlugin("SofaSimpleFem")
SofaRuntime.importPlugin("SofaBoundaryCondition")
SofaRuntime.importPlugin("SofaMiscForceField")

self.root = Sofa.Core.Node("myroot")

### create some objects to observe
self.place_objects_in_scene(self.root)

# place light and a camera
self.visuals = self.root.addChild('visuals')
self.visuals.addObject("LightManager")
self.visuals.addObject("SpotLight", position=[0,10,0], direction=[0,-1,0])
self.visuals.addObject("InteractiveCamera", name="camera", position=[0,10, 0],
def createScene(root):
# Register all the common component in the factory.
SofaRuntime.PluginRepository.addFirstPath(os.path.join(sofa_directory, 'bin'))
root.addObject("RequiredPlugin", name="SofaOpenglVisual") # visual stuff
root.addObject("RequiredPlugin", name="SofaLoader") # geometry loaders
root.addObject("RequiredPlugin", name="SofaSimpleFem") # diffusion fem
root.addObject("RequiredPlugin", name="SofaBoundaryCondition") # constraints
root.addObject("RequiredPlugin", name="SofaEngine") # Box Roi
root.addObject("RequiredPlugin", name="SofaImplicitOdeSolver") # implicit solver
root.addObject("RequiredPlugin", name="SofaMiscForceField") # meshmatrix
root.addObject("RequiredPlugin", name="SofaGeneralEngine") # TextureInterpolation
root.addObject("RequiredPlugin", name="CImgPlugin") # for loading a bmp image for texture
root.addObject("RequiredPlugin", name="SofaBaseLinearSolver")
root.addObject("RequiredPlugin", name="SofaGeneralVisual")
root.addObject("RequiredPlugin", name="SofaTopologyMapping")
root.addObject("RequiredPlugin", name="SofaGeneralTopology")
root.addObject("RequiredPlugin", name="SofaGeneralLoader")

### these are just some things that stay still and move around
# so you know the animation is actually happening
root.gravity = [0, -1., 0]
root.addObject("VisualStyle", displayFlags="showAll")
root.addObject("MeshGmshLoader", name="meshLoaderCoarse",
filename="mesh/liver.msh")
root.addObject("MeshObjLoader", name="meshLoaderFine",
filename="mesh/liver-smooth.obj")

root.addObject("EulerImplicitSolver")
root.addObject("CGLinearSolver", iterations="200",
tolerance="1e-09", threshold="1e-09")

liver = root.addChild("liver")

liver.addObject("TetrahedronSetTopologyContainer",
name="topo", src="@../meshLoaderCoarse")
liver.addObject("TetrahedronSetGeometryAlgorithms",
template="Vec3d", name="GeomAlgo")
liver.addObject("MechanicalObject",
template="Vec3d",
name="MechanicalModel", showObject="1", showObjectScale="3")

liver.addObject("TetrahedronFEMForceField", name="fem", youngModulus="1000",
poissonRatio="0.4", method="large")

liver.addObject("MeshMatrixMass", massDensity="1")
liver.addObject("FixedConstraint", indices="2 3 50")
visual = liver.addChild("visual")
visual.addObject('MeshObjLoader', name="meshLoader_0", filename="mesh/liver-smooth.obj", handleSeams="1")
visual.addObject('OglModel', name="VisualModel", src="@meshLoader_0", color='red')
visual.addObject('BarycentricMapping', input="@..", output="@VisualModel", name="visual mapping")

# place light and a camera
root.addObject("LightManager")
root.addObject("DirectionalLight", direction=[0,1,0])
root.addObject("InteractiveCamera", name="camera", position=[0,15, 0],
lookAt=[0,0,0], distance=37,
fieldOfView=45, zNear=0.63, zFar=55.69)

# start the simulator
Sofa.Simulation.init(self.root)

def place_objects_in_scene(self, root):
### these are just some things that stay still and move around
# so you know the animation is actually happening
root.gravity = [0, -1., 0]
root.addObject("VisualStyle", displayFlags="showBehaviorModels showAll")
root.addObject("MeshGmshLoader", name="meshLoaderCoarse",
filename="mesh/liver.msh")
root.addObject("MeshObjLoader", name="meshLoaderFine",
filename="mesh/liver-smooth.obj")

root.addObject("EulerImplicitSolver")
root.addObject("CGLinearSolver", iterations="200",
tolerance="1e-09", threshold="1e-09")

liver = root.addChild("liver")

liver.addObject("TetrahedronSetTopologyContainer",
name="topo", src="@../meshLoaderCoarse" )
liver.addObject("TetrahedronSetGeometryAlgorithms",
template="Vec3d", name="GeomAlgo")
liver.addObject("MechanicalObject",
template="Vec3d",
name="MechanicalModel", showObject="1", showObjectScale="3")

liver.addObject("TetrahedronFEMForceField", name="fem", youngModulus="1000",
poissonRatio="0.4", method="large")

liver.addObject("MeshMatrixMass", massDensity="1")
liver.addObject("FixedConstraint", indices="2 3 50")

def step(self):
# this steps the simulation
Sofa.Simulation.animate(self.root, self.root.getDt())
self.visuals.camera.position = self.visuals.camera.position + [-0.002, 0, 0]
simple_render(self.root)

# just to keep track of where we are
self.current_step += 1

# return true if done
return self.current_step >= self.max_steps


if __name__ == '__main__':
a = scene_interface()
done = False
while not done:
factor = a.current_step
done = a.step()
time.sleep(a.root.getDt())
root = Sofa.Core.Node("myroot")
createScene(root)
Sofa.Simulation.init(root)
init_display(root)
try:
while True:
Sofa.Simulation.animate(root, root.getDt())
Sofa.Simulation.updateVisual(root)
simple_render(root)
time.sleep(root.getDt())
except KeyboardInterrupt:
pass
27 changes: 17 additions & 10 deletions examples/additional-examples/pyqt_example.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
from qtpy.QtCore import *
from qtpy.QtWidgets import *
from qtpy.QtOpenGL import *
import Sofa.SofaGL as SGL
import Sofa.SofaGL
import Sofa
import SofaRuntime
import Sofa.Simulation as sim
Expand All @@ -12,7 +12,6 @@
import numpy as np
from PIL import Image


"""
With something like this setup, we can use Sofa with our own GUI and not have to give over control of the main thread.
Simple pyqt signals can be added to manually rotate the view with the mouse (could be a tedious task to get it to
Expand Down Expand Up @@ -56,7 +55,9 @@ def initializeGL(self):
glEnable(GL_LIGHTING)
glEnable(GL_DEPTH_TEST)
glDepthFunc(GL_LESS)
SGL.glewInit()
Sofa.SofaGL.glewInit()
Sofa.Simulation.initVisual(self.visuals_node)
Sofa.Simulation.initTextures(self.visuals_node)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(45, (self.width() / self.height()), 0.1, 50.0)
Expand All @@ -75,7 +76,7 @@ def paintGL(self):
cameraMVM = self.visuals_node.camera.getOpenGLModelViewMatrix()
glMultMatrixd(cameraMVM)

SGL.draw(self.visuals_node)
Sofa.SofaGL.draw(self.visuals_node)

def get_depth_image(self):
_, _, width, height = glGetIntegerv(GL_VIEWPORT)
Expand All @@ -94,7 +95,7 @@ def get_depth_image(self):
class SofaSim():
def __init__(self):
# Register all the common component in the factory.
SofaRuntime.PluginRepository.addFirstPath(os.path.join(sofa_directory, 'plugins'))
SofaRuntime.PluginRepository.addFirstPath(os.path.join(sofa_directory, 'bin'))
SofaRuntime.importPlugin('SofaOpenglVisual')
SofaRuntime.importPlugin("SofaComponentAll")
SofaRuntime.importPlugin("SofaGeneralLoader")
Expand Down Expand Up @@ -132,11 +133,16 @@ def __init__(self):
liver.addObject("MeshMatrixMass", massDensity="1")
liver.addObject("FixedConstraint", indices="2 3 50")

visual = liver.addChild("visual")
visual.addObject('MeshObjLoader', name="meshLoader_0", filename="mesh/liver-smooth.obj", handleSeams="1")
visual.addObject('OglModel', name="VisualModel", src="@meshLoader_0", color='red')
visual.addObject('BarycentricMapping', input="@..", output="@VisualModel", name="visual mapping")

# place light and a camera
self.visuals = root.addChild('visuals')
self.visuals.addObject("LightManager")
self.visuals.addObject("SpotLight", position=[0, 10, 0], direction=[0, -1, 0])
self.visuals.addObject("InteractiveCamera", name="camera", position=[0, 10, 0],
root.addObject("LightManager")
root.addObject("DirectionalLight", direction=[0, 1, 0])
self.visuals.addObject("InteractiveCamera", name="camera", position=[0, 15, 0],
lookAt=[0, 0, 0], distance=37,
fieldOfView=45, zNear=0.63, zFar=55.69)

Expand All @@ -146,11 +152,12 @@ def init_sim(self):

def step_sim(self):
self.visuals.camera.position = self.visuals.camera.position + [-0.0002, 0, 0]
Sofa.Simulation.animate(self.root, self.root.getDt())
Sofa.Simulation.animate(self.root, self.root.getDt()) # uncomment to animated sim
Sofa.Simulation.updateVisual(self.root)


if __name__ == '__main__':
app = QApplication(['Yo'])
window = MainWindow()
window.show()
app.exec_()
app.exec_()